CN115816038B - Joint assembly device for radioactive tubular sample - Google Patents

Joint assembly device for radioactive tubular sample Download PDF

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Publication number
CN115816038B
CN115816038B CN202310104288.6A CN202310104288A CN115816038B CN 115816038 B CN115816038 B CN 115816038B CN 202310104288 A CN202310104288 A CN 202310104288A CN 115816038 B CN115816038 B CN 115816038B
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sample
joint
radioactive
tubular
tightening
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CN115816038A (en
Inventor
鱼滨涛
宁广胜
梁瑞鹏
王成龙
赵迎超
张长义
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China Institute of Atomic of Energy
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China Institute of Atomic of Energy
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00—Energy generation of nuclear origin
    • Y02E30/30—Nuclear fission reactors

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Abstract

The embodiment of the application relates to combined machining of metals, in particular to a joint assembly device of a radioactive tubular sample. The joint assembling device includes: the device comprises a sample holding mechanism, a joint pre-assembling mechanism, a joint screwing mechanism and a sample transferring mechanism. The sample holding mechanism is for holding a radioactive tubular sample having two opposing open ports, one port of the radioactive tubular sample facing upward when the sample holding mechanism holds the radioactive tubular sample. The joint preassembling mechanism is used for grabbing the joint and preassembling the joint and the port of the radioactive tubular sample, which faces upwards. The joint tightening mechanism is used for tightening the preassembled joint with the radioactive tubular sample. The sample transfer mechanism comprises a rotating part and a clamping part arranged on the rotating part, the clamping part is used for clamping the radioactive tubular sample, and the rotating part is used for driving the clamping part to rotate in a horizontal plane so as to transfer the radioactive tubular sample from the sample holding mechanism to the joint tightening mechanism.

Description

Joint assembly device for radioactive tubular sample
Technical Field
The embodiment of the application relates to metal combined machining, in particular to a joint assembly device for a radioactive tubular sample.
Background
In the case of internal pressure testing of a cladding tube sample, it is necessary to provide sealing joints and pressure joints for introducing a pressure medium into the inside of the cladding tube sample at the two ports of the cladding tube sample, respectively.
Since the cladding tube sample itself is radioactive, the cladding tube sample and the joint can only be placed inside a hot cell, and assembled by an operator outside the hot cell operating a manipulator. The efficiency of the assembly between the cladding tube sample and the joint is low due to the inconvenience of the manipulator.
Disclosure of Invention
Aiming at the technical problems, the embodiment of the application provides a joint assembly device for a radioactive tubular sample, so as to improve the assembly efficiency between the radioactive tubular sample and a joint.
The joint assembly device of radioactive tubular sample that this application embodiment provided includes:
a sample holding mechanism for holding a radioactive tubular sample having two opposing open ports, one port of the radioactive tubular sample facing upward when the sample holding mechanism holds the radioactive tubular sample;
the joint pre-assembly mechanism is used for grabbing the joint and pre-assembling the joint and the port of the radioactive tubular sample, which faces upwards;
the joint tightening mechanism is used for tightening the preassembled joint and the radioactive tubular sample; and
the sample transferring mechanism comprises a rotating part and a clamping part arranged on the rotating part, wherein the clamping part is used for clamping the radioactive tubular sample, and the rotating part is used for driving the clamping part to rotate in a horizontal plane so as to transfer the radioactive tubular sample from the sample holding mechanism to the joint tightening mechanism.
According to the joint assembly device, through the arrangement of the sample holding mechanism, the joint pre-assembly mechanism, the joint tightening mechanism and the sample transferring mechanism, automatic assembly of the joint of the tubular sample can be achieved, and assembly efficiency is improved.
Drawings
Other objects and advantages of the present invention will become apparent from the following description of the invention with reference to the accompanying drawings, which provide a thorough understanding of the present invention.
FIG. 1 is a schematic view of a joint fitting apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic view of the fitting assembly of FIG. 1 at an alternative angle;
FIG. 3 is a schematic top view of the fitting assembly shown in FIG. 1;
FIG. 4 is a schematic side view of the fitting assembly shown in FIG. 1;
FIG. 5 is a schematic view of the structure of a radioactive tubular sample with joints assembled at both ends according to one embodiment of the present invention;
FIG. 6 is a schematic view of the sample transfer mechanism of FIG. 1;
FIG. 7 is a schematic view of the sample retention mechanism, splice retention mechanism, and splice pre-assembly mechanism of FIG. 1;
FIG. 8 is a schematic view of the sample and adapter retention mechanisms of FIG. 1;
FIG. 9 is a schematic view of the joint pre-assembly mechanism of FIG. 1;
FIG. 10 is a schematic view of the joint tightening mechanism of FIG. 1;
FIG. 11 is a schematic illustration of the mandrel loading mechanism of FIG. 1; and
fig. 12 is a schematic cross-sectional view of the funnel shown in fig. 11.
It should be noted that the drawings are not necessarily to scale, but are merely shown in a schematic manner that does not affect the reader's understanding.
Reference numerals illustrate:
10. a panel;
100. a sample holding mechanism;
200. a joint pre-assembly mechanism; 210. a gripping part; 220. a vertical driving part; 230. a lateral driving section; 240. a bracket; 250. a slide bar;
300. a joint tightening mechanism; 310. a clamping part; 320. a tightening part; 330. a vertical driving part; 340. a clamping part; 350. a vertical slideway; 360. a rotation driving part; 370. a sliding part; 380. a base;
400. a sample transfer mechanism; 410. a clamping part; 420. a rotating part; 430. a turnover part; 440. a lifting cylinder; 450. a clamping jaw cylinder; 460. a turnover cylinder; 470. a revolving cylinder; 480. a support panel; 490. a bracket;
500. a mandrel loading mechanism; 511. a base; 512. a rotating disc; 5121. a center portion; 5122. an extension; 520. a funnel; 521. a conical surface section; 522. an outlet section; 5221. an outer ring groove; 5222. an expansion section; 5223. an inner ring groove; 523. a curved surface section; 530. an elastic member;
600. a joint holding mechanism; 610. a receiving groove;
700. a radioactive tubular sample;
800. a joint; 800', pressure joint; 810. a fixing part; 820. a rotating part; 840. a threaded interface; 841. an air inlet;
900. and (5) a mandrel.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. It will be apparent that the described embodiments are one embodiment, but not all embodiments, of the present invention. All other embodiments, which can be made by a person skilled in the art without creative efforts, based on the described embodiments of the present invention fall within the protection scope of the present invention.
It is to be noted that unless otherwise defined, technical or scientific terms used herein should be taken in a general sense as understood by one of ordinary skill in the art to which the present invention belongs.
In the description of the embodiments of the present invention, the meaning of "plurality" is at least two, for example, two, three, etc., unless explicitly defined otherwise.
Referring to fig. 1 to 4, a joint assembling apparatus for a radioactive tubular sample 700 provided in an embodiment of the present application includes: a sample holding mechanism 100, a joint pre-assembly mechanism 200, a joint tightening mechanism 300, and a sample transfer mechanism 400.
In some embodiments, the sample retention mechanism 100, the joint pre-assembly mechanism 200, the joint tightening mechanism 300, and the sample transport mechanism 400 may all be mounted on the same panel 10.
In other embodiments, the sample retention mechanism 100, the joint pre-assembly mechanism 200, the joint tightening mechanism 300, and the sample transfer mechanism 400 may each be mounted on different panels.
The sample holding mechanism 100 is for holding a radioactive tubular sample 700.
The radioactive tubular sample 700 (hereinafter simply referred to as tubular sample 700) is a hollow tube. In some embodiments, the tubular sample 700 may be, for example, a cladding tube for a nuclear reactor. The cladding tube may be a cladding tube after nuclear radiation and with internal nuclear fuel removed.
The tubular sample 700 has two opposing open ports, one port of the tubular sample 700 facing upward when the sample holding mechanism 100 holds the tubular sample 700. In other words, when the sample holding mechanism 100 holds the tubular sample 700, the tubular sample 700 extends vertically.
The joint pre-assembly mechanism 200 is used to grasp the joint 800 and pre-assemble the joint 800 with the port of the tubular sample 700 facing upward.
The two connectors 800 that are assembled with the two ports of the tubular sample 700 are structurally different. One of the connectors 800 is a connector (or referred to as a plug) for sealing one port of the tubular sample 700; the other connector 800 is a pressure connector (or referred to as a high-pressure connector) for filling the inside of the tubular sample 700 with a pressure medium.
Referring to fig. 5, a sealed joint 800 is provided at one end of a tubular sample 700, and a pressure joint 800' is provided at the other end of the tubular sample 700. The pressure fitting 800' has a threaded interface 840. The threaded interface 840 is adapted for sealing connection with a pressure interface.
The end face of the threaded interface 840 is provided with a frustoconical surface tapering outwardly in diameter, the circumferential surface of the frustoconical surface being a conical surface. The middle part of the circular table is provided with an air inlet 841 communicated with the inside of the tubular sample 700. After the tubular sample 700 is sealingly connected to the pressure port via the pressure connector 800', pressure medium from the pressure port is supplied to the inside of the tubular sample 700 via the air inlet 841.
The joint 800 includes a fixed portion 810 and a rotating portion 820 screw-coupled with the fixed portion 810. The rotation part 820 is rotatable with respect to the fixing part 810, and the joint 800 and the tubular sample 700 can be tightened by rotation of the rotation part 820. The joint 800 is a structure that is relatively common in the internal pressure test, and will not be described here.
In the embodiment shown in fig. 5, both the fixed portion 810 and the rotating portion 820 have a hexagonal structure.
The joint tightening mechanism 300 is used to tighten the pre-assembled joint 800 with the tubular sample 700.
Referring to fig. 6, the sample transfer mechanism 400 includes a rotating portion 420 and a clamping portion 410 disposed on the rotating portion 420. The clamping part 410 is used for clamping the tubular sample 700, and the rotating part 420 is used for driving the clamping part 410 to rotate in the horizontal plane so as to transfer the tubular sample 700 from the sample holding mechanism 100 (i.e. the joint pre-assembling station) to the joint tightening mechanism 300 (i.e. the automatic tightening station).
According to the joint assembly device, through the arrangement of the sample holding mechanism 100, the joint pre-assembly mechanism 200, the joint tightening mechanism 300 and the sample transferring mechanism 400, automatic assembly of the joint 800 of the tubular sample 700 can be achieved, manual intervention is not needed in the whole assembly process, and therefore assembly efficiency is greatly improved.
The clamp 410 may be configured to: the tubular sample 700 is clamped when the joint pre-assembly mechanism 200 pre-loads the joint 800 with the port of the tubular sample 700 facing upward. That is, when the joint pre-assembly mechanism 200 pre-assembles the joint 800 with the upward facing port of the tubular sample 700, the tubular sample 700 is held by both the sample holding mechanism 100 and the clamping portion 410, thereby ensuring that the tubular sample 700 remains stable during pre-assembly, which is advantageous for improving the pre-assembly efficiency and efficiency.
Because the internal pressure test has a high sealing requirement on the joint 800, the tightening force of the manipulator operation cannot be guaranteed to meet the use requirement, so that the quality of the assembly between the cladding tube sample and the joint 800 is low. In the embodiment of the present application, the specific torque tightening can be achieved by the joint tightening mechanism 300, and the assembly quality is ensured.
The sample transfer mechanism 400 may include a clamp drive for driving the clamp 410 to clamp or unclamp the tubular sample 700. The grip portion 410 is connected to a grip driving portion provided on the rotation portion 420, so that the grip portion 410 is indirectly provided on the rotation portion 420 through the grip driving portion. In some embodiments, the clamping portion 410 may be a clamping jaw and the clamping drive portion may be a clamping jaw cylinder 450. In other embodiments, the clamping drive may also be a motor.
The sample transfer mechanism 400 further includes a rotation driving portion, and the rotation portion 420 is connected to the rotation driving portion. The rotation driving part is used for driving the rotation part 420 to rotate around the vertical shaft in the horizontal plane. In some embodiments, the rotary drive may be a rotary cylinder 470. In other embodiments, the rotary drive may also be a motor.
In some embodiments, the sample transfer mechanism 400 may further include a flipping portion 430, and the clamping portion 410 is disposed on the rotating portion 420 through the flipping portion 430. The turning part 430 is used for driving the clamping part 410 to turn 180 degrees in a vertical plane after one port of the tubular sample 700 is screwed with the joint 800, so that the other port of the tubular sample 700 faces upwards, and the other port is assembled.
In such an embodiment, the sample transfer mechanism 400 has three functions, sample clamping, sample transfer, and sample flipping. The connector assembling device of the embodiment of the application, through making the sample transferring mechanism 400 include the turnover part 430, can automatically assemble the connector 800 at the other end after the connector 800 at one end of the tubular sample 700 is assembled, and is very convenient.
It is easily understood that before the turning part 430 is turned, the turning part 430 may be turned to the turning station by the turning part 420 and then turned. At the flipping station, the flipping portion 430 does not interfere with other components when the clamping portion 410 and the tubular specimen 700 are flipped.
The sample transfer mechanism 400 further includes a flip drive for driving the grip portion 410 to flip 180 degrees in a vertical plane about a horizontal axis. The inversion driving part may be an inversion cylinder 460. In other embodiments, the flip drive may be a motor.
Referring to fig. 6, the jaw is disposed on the jaw cylinder 450, and the jaw cylinder 450 is disposed on the turn-over portion 430; the turning part 430 is disposed on the turning cylinder 460, and the turning cylinder 460 is disposed on the rotating part 420; the rotating part 420 is provided on the revolving cylinder 470. The jaw cylinder 450 drives the jaws through the air source for sample gripping and the fitting pre-assembly mechanism 200 is engaged for pre-assembly of the fitting 800 with the tubular sample 700. The rotary cylinder 470 is driven by the air source to rotate 90 ° each time, and can rotate 360 ° at maximum. The rotary cylinder 470 rotates with the jaw cylinder 450, and transfers the tubular sample 700 held by the jaws between the joint preassembling station, the turning station, and the automatic tightening station. After one end fitting 800 is tightened, the turning cylinder 460 drives the jaw cylinder 450 to turn 180 ° and then is transported back to the fitting preassembly station by the turning cylinder 470 to preassemble the other end fitting 800.
In some embodiments, the sample transport mechanism 400 may further comprise a vertical drive for driving the gripping portion 410 to move vertically. When it is desired to remove the tubular sample 700 from the sample holding mechanism 100, the tubular sample 700 may be gripped by the gripping portion 410, and then the tubular sample 700 may be lifted upward from the sample holding mechanism 100 by the vertical driving portion, so that the tubular sample 700 is separated from the sample holding mechanism 100, and the tubular sample 700 is transported to another station by the sample transporting mechanism 400.
Since the grip portion 410 is vertically adjustable in height, the tubular sample 700 is also facilitated to be engaged with the joint tightening mechanism 300 when the rotation portion 420 rotates the tubular sample 700 to the joint tightening mechanism 300.
Referring to fig. 6, the sample transport mechanism 400 may further include a support panel 480 and a bracket 490. The support panel 480 is mounted to the bracket 490 by a slide bar that extends vertically. The vertical driving part drives the clamping part 410 to move vertically by driving the support panel 480 to move along the slide bar. In some embodiments, the vertical drive is a lift cylinder 440. In other embodiments, the vertical drive may be a motor.
In some embodiments, the fitting assembly device further comprises: the joint holding mechanism 600 is used for holding at least one joint 800 to be assembled. The splice holding mechanism 600 is arranged in a lateral direction with the sample holding mechanism 100. The splice pre-assembly mechanism 200 is located on one lateral side of the splice holding mechanism 600 and the sample holding mechanism 100. That is, the joint pre-assembly mechanism 200 is disposed facing both the joint holding mechanism 600 and the sample holding mechanism 100. Alternatively, the adaptor holding mechanism 600 and the sample holding mechanism 100 are considered as a single body, and the adaptor pre-assembling mechanism 200 is arranged longitudinally with the single body.
In the embodiment of the present application, the transverse direction may refer to the x-axis direction in fig. 3 and 7, the longitudinal direction may refer to the y-axis direction in fig. 3 and 7, and the vertical direction may refer to the z-axis direction in fig. 7.
Sample retention mechanism 100 may be secured to the same mount as splice retention mechanism 600.
Referring to fig. 7 and 8, the splice holding mechanism 600 can include a plurality of receiving slots 610, each receiving slot 610 for receiving one of the splices 800. The receiving grooves 610 are arranged in a lateral direction. The tubular sample 700 held by the sample holding mechanism 100 is positioned on the same line as the receiving grooves 610 extending in the lateral direction, thereby facilitating the operation of the joint pre-assembly mechanism 200.
The size of the receiving slots 610 may not be exactly the same, thereby receiving different sized connectors 800.
Referring to fig. 7 and 9, the joint pre-assembly mechanism 200 includes: a gripping portion 210, a vertical driving portion 220, and a lateral driving portion 230.
The gripping portion 210 is located directly above the joint holding mechanism 600 or the sample holding mechanism 100 for gripping the joint 800. The vertical driving part 220 is used for driving the grabbing part 210 to move vertically. The lateral driving part 230 is connected to the gripping part 210 for driving the gripping part 210 to move in the lateral direction so that the gripping part 210 can move to a position directly above any one of the receiving grooves 610 and to a position directly above the tubular sample 700 held by the sample holding mechanism 100.
The vertical driving portion 220 is connected to the lateral driving portion 230, and the lateral driving portion 230 drives the vertical driving portion 220 to slide along the lateral direction. The vertical driving part 220 may drive the grabbing part 210 to vertically slide with respect to the slide bar 250.
The vertical driving portion 220 is configured to drive the grabbing portion 210 to move vertically to grab the joint 800 received in the receiving groove 610 when the grabbing portion 210 moves directly above the receiving groove 610, and drive the grabbing portion 210 to move vertically to sleeve the joint 800 to one port of the tubular sample 700 to finish preassembly when the grabbing portion 210 grabs the joint 800 and moves directly above the tubular sample 700.
The lateral drive portion 230 is mounted on a bracket 240.
Referring to fig. 8, the sample holding mechanism 100 may be a pneumatic chuck configured to hold tubular samples 700 of different diameters.
Referring to fig. 10, the joint tightening mechanism 300 includes: a clamping portion 310 and a tightening portion 320. The clamping portion 310 is used to clamp the fixing portion 810 of the joint 800. The tightening part 320 is disposed right above the clamping part 310, and is used to cooperate with the rotating part 820 of the joint 800 to drive the rotating part 820 to rotate, so as to tighten the joint 800 and the tubular sample 700.
In some embodiments, the joint tightening mechanism 300 may further include: a vertical driving part 330. The vertical driving part 330 is used for driving the tightening part 320 to move vertically relative to the clamping part 310 after the clamping part 310 clamps the fixing part 810 of the joint 800, so that the tightening part 320 is engaged with the rotating part 820 of the joint 800.
The vertical driving part 330 may be a motor. In other embodiments, the vertical drive 330 may be a cylinder.
The vertical driving part 330 may drive the tightening part 320 to move vertically along the vertical slideway 350. The vertical slide 350 is fixedly disposed on the base 380. The tightening part 320 may be fixedly connected to the sliding part 370, and the sliding part 370 may be slidably disposed on the vertical slideway 350.
Tightening portion 320 may be an adaptive sleeve to avoid possible positional deflection of joint 800. The joint tightening mechanism 300 further includes a rotation driving part 360 for driving the tightening part 320 to rotate, thereby tightening the joint 800. The rotation driving part 360 may be a motor. The assembly quality of the tubular sample 700 can be better ensured by presetting the torque of the motor torque adjustable joint 800 when being screwed down.
The clamping portion 310 may be fixedly disposed on the base 380. The clamping portion 310 may include two clamping jaws. The joint tightening mechanism 300 may include a jaw cylinder for driving the two jaws of the clamping portion 310 to open and close. Because the clamping force provided by the jaw cylinder is slightly less than sufficient to ensure a relatively static holding portion 810 during tightening, the joint tightening mechanism 300 may further include: the holding portion 340. The clamping portion 340 is used for clamping the clamping portion 310 after the clamping portion 310 clamps the fixing portion 810 of the joint 800, so as to prevent the fixing portion 810 from rotating during tightening.
In some embodiments, the catch 340 may have a wrench structure. The clamping portion 340 may be fixedly connected with the tightening portion 320, and when the vertical driving portion 330 drives the tightening portion 320 to move vertically downward with respect to the clamping portion 310, the clamping portion 340 moves downward to clamp the clamping portion 310. When the vertical driving part 330 drives the tightening part 320 to move vertically upward with respect to the clamping part 310, the catching part 340 moves upward to be disengaged from the clamping part 310.
In the embodiment shown in fig. 10, both the clamping portion 340 and the tightening portion 320 are fixedly connected to the sliding portion 370, so that the clamping portion 340 and the tightening portion 320 move up and down simultaneously when the vertical driving portion 330 drives the sliding portion 370 to move up and down along the vertical slideway 350.
The joint tightening mechanism 300, the sample transfer mechanism 400, and the sample holding mechanism 100 are arranged in the lateral direction, with the sample transfer mechanism 400 being located between the joint tightening mechanism 300 and the sample holding mechanism 100.
Specifically, referring to fig. 2, the rotation axis of the tightening part 320 of the joint tightening mechanism 300, the rotation axis of the rotation part 420 of the sample transfer mechanism 400, and the axis of the air chuck of the sample holding mechanism 100 are coplanar in the lateral direction, so that the rotation of the rotation part 420 of the sample transfer mechanism 400 by 180 degrees transfers the tubular sample 700 from the sample holding mechanism 100 to the joint tightening mechanism 300.
In order to reduce the volume of the cladding tube sample that needs to be filled with pressure medium when the cladding tube is subjected to an internal pressure test, a filling mandrel may be inserted into the cladding tube. Particularly when the pressure medium is gas, the gas compression ratio is large, so that the amount of gas required in filling is large. After the mandrel occupies a part of the volume in the cladding tube, the using amount of filling gas can be reduced, so that the test is easier to develop and control, and a large amount of pressure medium (gas and liquid) can be prevented from being released into the high-temperature furnace after the cladding tube sample is broken, so that the damage of thermal shock to the high-temperature furnace is reduced.
The mandrel is generally cylindrical. The end of the mandrel is provided with a chamfer, and the circumferential surface of the mandrel is provided with a plurality of grooves parallel to the axis, so that pressure medium can flow conveniently. The inner diameter of the cladding tube is typically small, for example less than 10mm, or around 10 mm. The diameter of the mandrel is slightly smaller than the inside diameter of the cladding tube. A plurality of mandrels may be axially loaded into each cladding tube. For example, for a 120mm cladding tube, the interior is filled with approximately 11 mandrels of length 10 mm.
In the related art, the filling of the mandrel is typically performed by an operator operating a robot outside the hot chamber. In the operation process, the problems of difficulty in alignment, small sizes of the cladding tube and the mandrel, visual angle caused by hot-chamber lead glass and the like exist in the operation of the manipulator, so that the filling process is time-consuming and labor-consuming. In addition, the pipe orifice of the cladding pipe is easy to be broken when the core shaft is filled by the manipulator, and air leakage is easy to occur when the cladding pipe sample is assembled in a sealing way in the later period, so that an internal pressure test is difficult to carry out.
Accordingly, the joint assembly device of the present embodiment further includes a mandrel loading mechanism 500 for loading the mandrel into the tubular sample 700 after the sample transfer mechanism 400 flips the grip portion 410.
The rotating portion 420 of the sample transferring mechanism 400 is further configured to rotate the clamping portion 410 in a horizontal plane to transfer the tubular sample 700 to the mandrel filling mechanism 500 (i.e., the filling station).
Referring to fig. 11 and 12, the mandrel charging mechanism 500 includes: a bracket, a funnel 520 and an elastic member 530.
The bracket is provided with a through hole, and the funnel 520 is arranged at the through hole.
Funnel 520 includes a conical section 521 and an outlet section 522 that meets the lower end of conical section 521. Wherein the outlet section 522 is mounted in the through hole. The tapered section 521 is for receiving a mandrel 900 to be filled. The outlet section 522 may be a cylindrical section of uniform inner diameter. The inner diameter of the outlet section 522 is greater than the diameter of the mandrel 900 and less than the length of the mandrel 900 to facilitate the mandrel 900 entering the cone section 521 being able to enter the tubular sample 700 located below the outlet section 522 upright along the outlet section 522. It will be readily appreciated that the upper end opening of the conical section 521 is larger than the lower end opening. The manipulator only needs to put the mandrel 900 into the funnel 520, and compared with the mode that the manipulator directly loads the mandrel 900 into the tubular sample 700, the operation difficulty of the manipulator is greatly reduced.
In the present embodiment, only one mandrel 900 is filled at a time. After the mandrel 900 in the funnel 520 enters the tubular sample 700, the manipulator places another mandrel 900 into the funnel 520 for further filling.
In some embodiments, the upper end opening of the tapered section 521 may be greater than the length of the mandrel 900 to facilitate placement of the mandrel 900 therein by a robot. It will be readily appreciated that when the manipulator places the mandrel 900 into the cone section 521, the mandrel 900 may be laterally positioned within the cone section 521 and not slide down smoothly into the outlet section 522 (i.e., the mandrel 900 resides within the cone section 521).
In the present embodiment, in order to enable the retained mandrel 900 to slide down smoothly into the outlet section 522, in particular, the outlet section 522 is mounted within the through bore and is configured to operably slide down the through bore when the mandrel 900 within the tapered section 521 is retained.
The elastic member 530 serves to provide an upward restoring force to the funnel 520 when the outlet section 522 slides down the through hole, so that the mandrel 900 retained in the cone section 521 can be slid into the outlet section 522 after being sprung up for replacement. The elastic member 530 may be, for example, a spring. In other embodiments, the elastic member 530 may be other conventional structures capable of providing a reverse restoring force.
Specifically, when the mandrel 900 stays in the conical section 521, the manipulator presses down the funnel 520 to enable the outlet section 522 to slide down relative to the through hole, then the manipulator moves away quickly, the funnel 520 rebounds instantaneously under the action of the elastic member 530, at this time, the mandrel 900 in the funnel 520 is also sprung together, and the sprung mandrel 900 slides down to the outlet section 522 smoothly along the conical section 521 with a high probability after changing the posture.
By rotation of the rotating portion 420, the clamping portion 410 can be located at a position directly below the outlet section 522 (i.e., mandrel filling station).
It can be seen that the manipulator in the embodiment of the present invention only needs to place the mandrel 900 in the conical section 521 of the funnel 520, and the mandrel 900 can be introduced into the tubular sample 700 through the funnel 520 without directly placing the mandrel 900 into the tubular sample 700 with a smaller inner diameter. Even if the mandrel 900 is accidentally placed horizontally in the conical section 521, the mandrel 900 cannot slide down smoothly into the outlet section 522, the mandrel 900 can be sprung up to change the posture only by pressing the funnel 520 by a manipulator, and the mandrel 900 can slide down into the outlet section 522 with high probability under the guiding action of the conical section 521 due to the chamfer at the end of the mandrel 900, so as to enter the tubular sample 700.
Referring to fig. 12, in some embodiments, funnel 520 further comprises: the curved surface section 523 is connected with the upper end of the conical surface section 521, and the curved surface section 523 protrudes inwards in the radial direction. It will be readily understood that "the curved surface section 523 is convex in the radial direction" means that when the upper and lower ends of the curved surface section 523 are connected by a tapered surface, the midpoint of the curved surface section 523 is located inside the tapered surface (i.e., the side closer to the axis). By arranging the funnel 520 to include the curved surface section 523 and the conical surface section 521 which are sequentially connected from top to bottom, compared with arranging the upper part of the outlet section 522 of the funnel 520 to be the conical surface section 521, the curved surface section 523 is more beneficial to keeping the posture that the mandrel 900 slides obliquely and vertically along the conical surface section 521, so that the probability that the mandrel 900 is transversely arranged on the conical surface section 521 is reduced. In other words, curved section 523 and tapered section 521 in combination are more advantageous for smooth sliding down of mandrel 900 to outlet section 522, reducing the probability that mandrel 900 will lie across tapered section 521.
It is easy to understand that, in the embodiment of the present application, the radially inner surface of the funnel 520 is smooth, and the adjacent two of the curved surface section 523, the conical surface section 521 and the outlet section 522 are in smooth transition connection.
The spring (i.e., the elastic member 530) is sleeved over the outlet section 522 of the funnel 520. The bottom of the outlet section 522 of the funnel 520 protrudes downwardly through the aperture. Radially outward of the bottom of the outlet section 522 is an outer annular groove 5221 for a mounting collar (not shown). The collar acts to prevent funnel 520 from backing out of the through hole when funnel 520 is moved upward under the action of the spring.
In some embodiments, the bottom of the outlet section 522 is formed with an enlarged section 5222 of increased diameter. An outer ring groove 5221 is formed radially outward of the expansion section 5222. The expansion section 5222 is used to receive the upper port of the tubular sample 700, thereby facilitating smooth sliding of the mandrel 900 into the tubular sample 700. The expansion section 5222 is formed with an inner ring groove 5223 on the radially inner side for placing a rubber ring (not shown) so as to clamp the upper end of the tubular specimen 700 with the rubber ring.
In some embodiments, the mandrel charging mechanism 500 includes: a plurality of funnels 520 and a plurality of elastic members 530. For example, the mandrel filling mechanism 500 may include 2, 3, 4, 5, and more hoppers 520.
The support of the mandrel charging mechanism 500 is provided with a plurality of through holes. The number of through holes and funnels 520 is the same. Each funnel 520 is mounted at one of the through holes.
In some embodiments, when the number of hoppers 520 is multiple, the inner diameter of the outlet section 522 of each hopper 520 is different for filling mandrels 900 of different diameters, respectively.
In some embodiments, the support of the spindle loading mechanism 500 may include a base 511 and a rotatable plate 512 rotatably disposed on the base 511. Through holes are formed on the rotating disk 512, i.e., the hopper 520 is provided on the rotating disk 512.
By rotation of the rotating portion 420 and the rotating disc 512, the clamping portion 410 is enabled to be located at a position directly below the outlet section 522 of either funnel 520.
The rotating disk 512 may include a central portion 5121 and a plurality of extensions 5122 extending outwardly from the central portion 5121. Wherein the central portion 5121 is rotatably provided on the base 511, and each of the extending portions 5122 is formed with a through hole. Each funnel 520 is disposed on the extension 5122 to facilitate placement of the tubular sample 700 under the extension 5122.
Specifically, when loading the mandrel, the rotating portion 420 rotates to place the clamping portion 410 in the mandrel loading station. The robot can rotate the hopper 520 to be used to the filling station. At this loading station, the tubular sample 700 held by the holding portion 410 is aligned with the outlet section 522. The loading of the mandrel 900 is performed by the actuation of the lift cylinder 440 which moves the open end of the tubular sample 700 upwardly into the outlet section 522 of the funnel 520. After filling, the open end of the tubular sample 700 is moved downwardly out of the outlet section 522 by actuation of the lift cylinder 440.
The working flow of the joint fitting device according to the embodiment of the present invention is described in detail below with reference to the accompanying drawings.
Material placement step S1: the two types of connectors 800 are placed in the receiving grooves 610 of the connector holding mechanism 600, respectively, by a robot, and then the tubular sample 700 is clamped on the air chuck to wait for pre-assembly.
Step S2 of pre-assembling the joint: the gripping part 210 is driven by the transverse driving part 230 of the joint pre-assembling mechanism 200 to move above a specific joint 800, the gripping part 210 is driven by the vertical driving part 220 to descend, the joint 800 is gripped, then the gripping part 210 is driven by the transverse driving part 230 to transversely translate to be right above the tubular sample 700, then the gripping part 210 is driven by the vertical driving part 220 to descend, the joint 800 is sleeved at the upper end part of the tubular sample 700, and the pre-assembling of the joint 800 is completed. The gripping portion 410 of the sample transfer mechanism 400 remains gripping the tubular sample 700 while the tubular sample 700 is preassembled with the connector 800 using the connector preassembly mechanism 200.
Sample transfer step S3: after the tubular sample 700 is preassembled with the connector 800, the lifting cylinder 440 of the sample transfer mechanism 400 is lifted up, so that the clamping part 410 drives the tubular sample 700 to be taken out from the air chuck of the connector holding mechanism 600; the revolving cylinder 470 rotates 180 deg. to reach the joint tightening mechanism 300 position.
And (4) joint tightening step S4: the clamping part 310 of the joint tightening mechanism 300 clamps the tubular sample 700, the vertical driving part 330 drives the sleeve to descend, the rotating part 820 of the joint 800 sleeved on the end part of the tubular sample 700, and the clamping part 340 clamps the clamping part 310; the rotation driving part 360 starts to drive the sleeve to rotate, and stops rotating after reaching the set torque, so that the final assembly of the joint 800 and the tubular sample 700 is realized.
Sample overturning step S5: inverting the tubular sample 700 with the inverting portion 430 of the sample transfer mechanism 400 such that the other port of the tubular sample 700 faces upward;
and (6) mandrel filling step S6: the tubular sample 700 is rotated to the loading station by the rotating portion 420 of the sample transfer mechanism 400. The rotating disk 512 of the mandrel filling mechanism 500 is rotated to rotate the predetermined funnel 520 to the filling station, where the port of the tubular sample 700 is aligned with the outlet section 522. By manually operating the manipulator, the mandrel 900 is plunged into the funnel 520, causing the mandrel 900 to fall down the funnel 520 into the interior of the tubular sample 700.
Thereafter, the tubular sample 700 is placed on an air chuck, and steps S2 to S4 are repeated to complete the assembly of the joints 800 at both ends of the tubular sample 700.
It should also be noted that, in the embodiments of the present invention, the features of the embodiments of the present invention and the features of the embodiments of the present invention may be combined with each other to obtain new embodiments without conflict.
The present invention is not limited to the above embodiments, but the scope of the invention is defined by the claims.

Claims (14)

1.一种放射性管状样品的接头装配装置，其特征在于，包括：1. A joint assembly device for radioactive tubular samples, characterized in that it comprises: 样品保持机构，用于保持所述放射性管状样品，所述放射性管状样品具有两个相对的开放端口，当所述样品保持机构保持所述放射性管状样品时，所述放射性管状样品的一个端口朝上；a sample holding mechanism for holding the radioactive tubular sample having two opposing open ports, one port of the radioactive tubular sample facing upward when the sample holding mechanism holds the radioactive tubular sample ; 接头预装配机构，用于抓取接头，并将所述接头与所述放射性管状样品朝上的端口进行预装配；a connector pre-assembly mechanism for grabbing a connector and pre-assembling said connector with the upwardly facing port of said radioactive tubular sample; 接头拧紧机构，用于将预装配后的接头与放射性管状样品拧紧；以及A fitting tightening mechanism for tightening the preassembled fitting to the radioactive tubular sample; and 样品转运机构，包括转动部和设置于所述转动部上的夹持部，所述夹持部用于夹持所述放射性管状样品，所述转动部用于带动所述夹持部在水平面内转动，以将所述放射性管状样品从所述样品保持机构转运至所述接头拧紧机构处；The sample transfer mechanism includes a rotating part and a clamping part arranged on the rotating part, the clamping part is used to clamp the radioactive tubular sample, and the rotating part is used to drive the clamping part in the horizontal plane rotating to transfer the radioactive tubular sample from the sample holding mechanism to the fitting tightening mechanism; 所述夹持部配置成：当所述接头预装配机构将所述接头与所述放射性管状样品朝上的端口进行预装配时，夹持所述放射性管状样品；The clamping portion is configured to clamp the radioactive tubular sample when the joint pre-assembly mechanism pre-assembles the joint with the upward facing port of the radioactive tubular sample; 所述装置还包括：芯轴装填机构，用于在所述样品转运机构翻转所述夹持部后，向所述放射性管状样品内填充芯轴；The device also includes: a mandrel filling mechanism, used for filling a mandrel into the radioactive tubular sample after the sample transfer mechanism turns over the clamping part; 所述样品转运机构的转动部还用于带动所述夹持部在水平面内转动，以将所述放射性管状样品转运至所述芯轴装填机构处；The rotating part of the sample transfer mechanism is also used to drive the clamping part to rotate in the horizontal plane, so as to transfer the radioactive tubular sample to the mandrel loading mechanism; 所述芯轴装填机构包括：The mandrel loading mechanism includes: 支架，所述支架上开设有通孔；a bracket, and a through hole is opened on the bracket; 漏斗，所述漏斗包括锥面段和与所述锥面段的下端相接的出口段，其中，所述锥面段用于接收待装填的芯轴，所述出口段的内直径大于所述芯轴的直径且小于所述芯轴的长度，以利于进入所述锥面段的所述芯轴能够沿着所述出口段直立地进入位于所述出口段下方的放射性管状样品，所述出口段安装于所述通孔内，且配置成当所述锥面段内的芯轴滞留时能够可操作地沿所述通孔向下滑动；以及A funnel, the funnel includes a cone section and an outlet section connected to the lower end of the cone section, wherein the cone section is used to receive the mandrel to be filled, and the inner diameter of the outlet section is larger than the The diameter of the mandrel is smaller than the length of the mandrel, so that the mandrel that enters the cone section can enter the radioactive tubular sample that is located below the outlet section upright along the outlet section, and the outlet section a segment mounted within the through hole and configured to operably slide down the through hole when a mandrel within the tapered segment is retained; and 弹性件，所述弹性件用于在所述出口段沿所述通孔向下滑动时向所述漏斗提供向上的回复力，以使滞留在所述锥面段内的芯轴能够弹起进而滑入所述出口段；an elastic member, the elastic member is used to provide an upward restoring force to the funnel when the outlet section slides downward along the through hole, so that the mandrel retained in the tapered surface section can bounce up and then slide into said exit section; 其中，通过所述转动部的转动，能够使所述夹持部位于所述出口段的正下方的位置。Wherein, through the rotation of the rotating part, the clamping part can be located directly below the outlet section. 2.根据权利要求1所述的装置，其特征在于，所述样品转运机构还包括翻转部，所述夹持部通过所述翻转部设置于所述转动部上，2. The device according to claim 1, wherein the sample transfer mechanism further comprises an overturning part, and the clamping part is arranged on the rotating part through the overturning part, 所述翻转部用于在所述放射性管状样品的一个端口与所述接头拧紧后，带动所述夹持部在竖直面内翻转180度，以使所述放射性管状样品的另一个端口朝上。The turning part is used to drive the clamping part to turn over 180 degrees in the vertical plane after one port of the radioactive tubular sample is tightened with the joint, so that the other port of the radioactive tubular sample faces upward . 3.根据权利要求1所述的装置，其特征在于，所述样品转运机构还包括竖向驱动部，用于驱动所述夹持部沿竖向移动。3 . The device according to claim 1 , wherein the sample transfer mechanism further comprises a vertical driving part for driving the clamping part to move vertically. 4 . 4.根据权利要求1所述的装置，其特征在于，还包括：4. The device according to claim 1, further comprising: 接头保持机构，与所述样品保持机构沿横向排列，用于保持待装配的至少一个接头；joint holding mechanism, arranged transversely with said sample holding mechanism, for holding at least one joint to be assembled; 所述接头预装配机构位于所述接头保持机构和所述样品保持机构的横向一侧。The joint pre-assembly mechanism is located on the lateral side of the joint holding mechanism and the sample holding mechanism. 5.根据权利要求4所述的装置，其特征在于，所述接头保持机构包括沿横向排列的多个收容槽，每个所述收容槽用于收容一个接头。5 . The device according to claim 4 , wherein the connector holding mechanism comprises a plurality of receiving grooves arranged in a transverse direction, and each of the receiving grooves is used to accommodate a connector. 6 . 6.根据权利要求5所述的装置，其特征在于，所述多个收容槽的尺寸不完全相同。6. The device according to claim 5, wherein the dimensions of the plurality of receiving grooves are not completely the same. 7.根据权利要求5所述的装置，其特征在于，所述接头预装配机构包括：7. The device according to claim 5, wherein the joint pre-assembly mechanism comprises: 抓取部，位于所述接头保持机构或所述样品保持机构的正上方，用于抓取接头；a grasping part, located directly above the joint holding mechanism or the sample holding mechanism, for grasping the joint; 横向驱动部，与所述抓取部连接，用于驱动所述抓取部沿横向移动，使所述抓取部能够移动至任一收容槽以及由所述样品保持机构保持的放射性管状样品的正上方；以及A transverse driving part, connected with the grasping part, is used to drive the grasping part to move laterally, so that the grasping part can move to any storage tank and the radioactive tubular sample held by the sample holding mechanism. directly above; and 竖向驱动部，与所述横向驱动部连接，用于在所述抓取部移动至所述收容槽的正上方时，驱动所述抓取部沿竖向移动，以抓取收容于所述收容槽内的接头，以及移动至所述放射性管状样品的正上方时，驱动所述抓取部沿竖向移动，将所述接头套至所述放射性管状样品的一个端口完成预装配。The vertical driving part is connected with the horizontal driving part, and is used to drive the grabbing part to move vertically when the grabbing part moves to the right above the storage groove, so as to grab and store in the storage tank. When the connector in the storage tank moves to the top of the radioactive tubular sample, the grasping part is driven to move vertically, and the connector is put on a port of the radioactive tubular sample to complete the pre-assembly. 8.根据权利要求1所述的装置，其特征在于，所述接头拧紧机构、所述样品转运机构以及所述样品保持机构沿横向排列，其中所述样品转运机构位于所述接头拧紧机构和所述样品保持机构之间。8. The device according to claim 1, wherein the joint tightening mechanism, the sample transfer mechanism and the sample holding mechanism are arranged in a transverse direction, wherein the sample transfer mechanism is located between the joint tightening mechanism and the sample holding mechanism. between the sample holding mechanisms described above. 9.根据权利要求1所述的装置，其特征在于，所述样品保持机构为气动卡盘，所述气动卡盘配置成能够夹持不同直径的放射性管状样品。9. The device of claim 1, wherein the sample holding mechanism is a pneumatic chuck configured to hold radioactive tubular samples of different diameters. 10.根据权利要求1所述的装置，其特征在于，所述接头包括固定部和与所述固定部螺纹连接的转动部，10. The device according to claim 1, wherein the joint comprises a fixed part and a rotating part screwed to the fixed part, 所述接头拧紧机构包括：The joint tightening mechanism includes: 夹紧部，用于夹紧所述接头的固定部；和a clamping portion for clamping the fixed portion of the joint; and 拧紧部，设置于所述夹紧部的正上方，用于与所述接头的转动部配合以带动所述转动部转动，从而将所述接头与所述放射性管状样品拧紧。The tightening part is arranged directly above the clamping part, and is used to cooperate with the rotating part of the joint to drive the rotating part to rotate, thereby tightening the joint and the radioactive tubular sample. 11.根据权利要求10所述的装置，其特征在于，所述接头拧紧机构还包括：11. The device according to claim 10, wherein the joint tightening mechanism further comprises: 竖向驱动部，用于在所述夹紧部夹紧所述接头的固定部之后，驱动所述拧紧部相对于所述夹紧部沿竖向移动，以使所述拧紧部与所述接头的转动部配合。a vertical driving part, used to drive the tightening part to move vertically relative to the clamping part after the clamping part clamps the fixing part of the joint, so that the tightening part and the joint The rotation part fits. 12.根据权利要求11所述的装置，其特征在于，所述接头拧紧机构还包括：12. The device according to claim 11, wherein the joint tightening mechanism further comprises: 卡持部，用于在所述夹紧部夹紧所述接头的固定部后，卡持所述夹紧部。The clamping part is used for clamping the clamping part after the clamping part clamps the fixing part of the connector. 13.根据权利要求12所述的装置，其特征在于，所述卡持部与所述拧紧部固定连接，13. The device according to claim 12, wherein the clamping part is fixedly connected to the tightening part, 当所述竖向驱动部驱动所述拧紧部相对于所述夹紧部沿竖向向下移动时，所述卡持部向下移动以夹持所述夹紧部；When the vertical driving part drives the tightening part to move vertically downward relative to the clamping part, the clamping part moves downward to clamp the clamping part; 当所述竖向驱动部驱动所述拧紧部相对于所述夹紧部沿竖向向上移动时，所述卡持部向上移动以脱离所述夹紧部。When the vertical driving part drives the tightening part to move vertically upward relative to the clamping part, the clamping part moves upward to disengage from the clamping part. 14.根据权利要求1所述的装置，其特征在于，所述芯轴装填机构包括多个所述漏斗，其中，各个所述漏斗的出口段的内直径均不相同，以分别用于装填不同直径的芯轴；14. The device according to claim 1, wherein the mandrel loading mechanism comprises a plurality of funnels, wherein the inner diameters of the outlet sections of each of the funnels are different, so as to be used for filling different diameter of the mandrel; 所述支架包括底座和可转动地设置在所述底座上的转动盘，多个所述漏斗设置在所述转动盘上；The bracket includes a base and a rotating disk rotatably arranged on the base, and a plurality of the funnels are arranged on the rotating disk; 通过所述转动部和所述转动盘的转动，使得所述夹持部能够位于任一个所述漏斗的出口段的正下方的位置。Through the rotation of the rotating part and the rotating disk, the clamping part can be located directly below the outlet section of any one of the funnels.
CN202310104288.6A 2023-01-29 2023-01-29 Joint assembly device for radioactive tubular sample Active CN115816038B (en)

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